Physiological signals are increasingly relevant to estimate the mental states of users in human-robot interaction (HRI), yet ROS 2-based HRI frameworks still lack reusable support to integrate such data streams in a standardized way. Therefore, we propose Sense4HRI, an adapted framework for human-robot interaction in ROS 2 that integrates physiological measurements and derived user-state indicators. The framework is designed to be extensible, allowing the integration of additional physiological sensors, their interpretation, and multimodal fusion to provide a robust assessment of the mental states of users. In addition, it introduces reusable interfaces for timestamped physiological time-series data and supports synchronized logging of physiological signals together with experiment context, enabling interoperable and traceable multimodal analysis within ROS 2-based HRI systems.
@article{arxiv.2603.19914,
title = {Sense4HRI: A ROS 2 HRI Framework for Physiological Sensor Integration and Synchronized Logging},
author = {Manuel Scheibl and Julian Leichert and Sinem Görmez and Britta Wrede},
journal= {arXiv preprint arXiv:2603.19914},
year = {2026}
}